读取编码器接口从生成命令，编程静态固定命令

main/motor_drive.c

@@ -41,23 +41,23 @@ void motor_drive_turn(int direction, int speed_level, double position) {
 }
 
 double motor_drive_read_encoder() {
-  size_t encoder_buffer_size = 0;
-  uint8_t buffer[20] = {0};
+  size_t encoder_buffer_size = 5;
+  uint8_t buffer[5] = {0X3E,0X90,0X01,0X00,0XCF};
   uint16_t encoder_data = 0;
 
   // Generate cmd
-  encoder_buffer_size = motor_drive_buffer_cmd_generate(buffer, 0x90, 4, 0X5A97FF00);
-  if (encoder_buffer_size == 0) {
-    ESP_LOGW(MOTOR_DRIVE, "generate_buffer_size null");
-    return -1;
-  }
+  // encoder_buffer_size = motor_drive_buffer_cmd_generate(buffer, 0x90, 4, 0X5A97FF00);
+  // if (encoder_buffer_size == 0) {
+  //   ESP_LOGW(MOTOR_DRIVE, "generate_buffer_size null");
+  //   return -1;
+  // }
 
   uart_flush(uart_num);
   // Send cmd
   uart_write_bytes(uart_num, (const char *)buffer, encoder_buffer_size);
 
   encoder_buffer_size = 0;
-  memset(buffer, 0, sizeof(uint8_t) * 20);
+  memset(buffer, 0, sizeof(uint8_t) * 5);
 
   // Wait receive
   encoder_buffer_size = uart_read_bytes(uart_num, buffer, 12, 2000 / portTICK_RATE_MS);